With kids - Boma. Better environment for the kids and a much larger selection. If they try something different and don't like it you can go replace it with something safer.
Without kids - Jiko. Very romantic, wonderful food, attentive service, very few (if any) kids around. We had a fantastic evening and it's now my #2 favorite restaurant on property!
1 - V&A
2 - Jiko
In my mind it's a pretty big thing to be #2 behind V&A.